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**大学MOOC《机器人操作系统入门》代码示例 ROS tutorial

CMake 66.11% Python 16.88% C++ 15.45% Lua 1.56%

tutorial ros demo gazebo robotics simulation robot learning

ros-academy-for-beginners's Introduction

《机器人操作系统入门》课程代码示例

前言

欢迎来到**大学MOOC---《机器人操作系统入门》课程，本ROS软件包是课程的代码示例，课程中使用的例子均出自本代码包。除了代码包，课程还提供讲义，欢迎各位朋友下载、学习和分享。

本示例包含了XBot机器人和中科院软件博物馆仿真、ROS通信示例程序、导航与SLAM功能演示，在每个软件包下都有相应的功能介绍。

如果你遇到任何问题，可以在Github上方的issues栏目中提问，我们课程团队会耐心回答。本示例将长期维护，不断更新，如果你认可我们的工作，请点击右上角的star按钮，您的鼓励是我们的动力。

示例介绍

本仓库为ROS入门教程的代码示例，包括以下ROS软件包:

软件包	内容
robot_sim_demo	机器人仿真程序，大部分示例会用到这个软件包
topic_demo	topic通信，自定义msg，包括C++和python两个版本实现
service_demo	service通信，自定义srv，分别以C++和python两种语言实现
action_demo	action通信，自定义action，C++和python两种语言实现
param_demo	param操作，分别以C++和python两种语言实现
msgs_demo	演示msg、srv、action文件的格式规范
tf_demo	tf相关API操作演示，tf示例包括C++和python两个版本
name_demo	演示全局命名空间和局部命名空间下参数的提取
tf_follower	制作mybot机器人实现mybot跟随xbot的功能
urdf_demo	创建机器人urdf模型，在RViz中显示
navigation_sim_demo	导航演示工具包，包括AMCL, Odometry Navigation等演示
slam_sim_demo	同步定位与建图演示，包括Gmapping, Karto, Hector等SLAM演示
robot_orbslam2_demo	ORB_SLAM2的演示
ros_academy_for_beginners	Metapacakge示例，依赖了本仓库所有的pacakge

下载和编译

克隆或下载ROS-Academy-for-Beginners教学包到工作空间的/src目录下，例如 ~/catkin_ws/src

$ cd ~/catkin_ws/src
$ git clone https://github.com/DroidAITech/ROS-Academy-for-Beginners.git

安装教学包所需的依赖

$ cd ~/catkin_ws
$ rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y

编译并刷新环境

$ catkin_make
$ source ~/catkin_ws/devel/setup.bash

运行示例

运行须知

建议在本地Ubuntu 16.04下运行仿真程序。目前Gazebo模拟器的兼容性是一大问题，在虚拟机或配置较低的电脑上可能无法运行。如果你的显卡是N卡，建议安装Ubuntu下的显卡驱动。
运行Gazebo仿真程序robot_sim_demo前，请将Gazebo升级到7.x版本以上（推荐7.9版本）。

查看Gazebo版本方法

$ gazebo -v   #确认7.0以上，推荐7.9

升级方法

$ sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
$ wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
$ sudo apt-get update
$ sudo apt-get install gazebo7

确保所有依赖都已安装，如gazebo_ros, gmapping, slam_karto, amcl。

Copyright

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ros-academy-for-beginners's Issues

gazebo 7.0 启动后什么也没有呀

参照教程一步一步做下来，启动roslaunch robot_sim_demo robot_spawn.launch
rostopic list rosnode list 已经查看该有的都有，n卡驱动也装了，就是运行不起来，求解？

Cannot laod the map model

When I run the "roslaunch robot_sim_demo robot_spawn.launch", the gazebo does not load the map model.
Thanks for your answer!

In file included from /opt/ros/kinetic/include/actionlib/managed_list.h:38:0,
from /opt/ros/kinetic/include/actionlib/client/client_helpers.h:47,
from /opt/ros/kinetic/include/actionlib/client/action_client.h:38,
from /opt/ros/kinetic/include/actionlib/client/simple_action_client.h:47,
from /home/liuhongwei/catkin_ws/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Client.cpp:2:
/opt/ros/kinetic/include/actionlib/destruction_guard.h: In member function ‘void actionlib::DestructionGuard::destruct()’:
/opt/ros/kinetic/include/actionlib/destruction_guard.h:62:80: error: no matching function for call to ‘boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>::subsecond_duration(float)’
count_condition_.timed_wait(lock, boost::posix_time::milliseconds(1000.0f));
^
In file included from /usr/local/include/boost/date_time/posix_time/posix_time_config.hpp:16:0,
from /usr/local/include/boost/date_time/posix_time/posix_time_system.hpp:13,
from /usr/local/include/boost/date_time/posix_time/ptime.hpp:12,
from /usr/local/include/boost/date_time/posix_time/posix_time_types.hpp:12,
from /usr/local/include/boost/thread/thread_time.hpp:11,
from /usr/local/include/boost/thread/detail/platform_time.hpp:11,
from /usr/local/include/boost/thread/pthread/condition_variable.hpp:9,
from /usr/local/include/boost/thread/condition_variable.hpp:16,
from /usr/local/include/boost/thread/condition.hpp:13,
from /opt/ros/kinetic/include/actionlib/client/simple_action_client.h:38,
from /home/liuhongwei/catkin_ws/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Client.cpp:2:
/usr/local/include/boost/date_time/time_duration.hpp:285:14: note: candidate: template boost::date_time::subsecond_duration<base_duration, frac_of_second>::subsecond_duration(const T&, typename boost::enable_if<boost::is_integral, void>::type*)
explicit subsecond_duration(T const& ss,
^
/usr/local/include/boost/date_time/time_duration.hpp:285:14: note: template argument deduction/substitution failed:
/usr/local/include/boost/date_time/time_duration.hpp: In substitution of ‘template boost::date_time::subsecond_duration<base_duration, frac_of_second>::subsecond_duration(const T&, typename boost::enable_if<boost::is_integral, void>::type*) [with T = float]’:
/opt/ros/kinetic/include/actionlib/destruction_guard.h:62:80: required from here
/usr/local/include/boost/date_time/time_duration.hpp:285:14: error: no type named ‘type’ in ‘struct boost::enable_if<boost::is_integral, void>’
In file included from /usr/local/include/boost/date_time/posix_time/posix_time_config.hpp:16:0,
from /usr/local/include/boost/date_time/posix_time/posix_time_system.hpp:13,
from /usr/local/include/boost/date_time/posix_time/ptime.hpp:12,
from /usr/local/include/boost/date_time/posix_time/posix_time_types.hpp:12,
from /usr/local/include/boost/thread/thread_time.hpp:11,
from /usr/local/include/boost/thread/detail/platform_time.hpp:11,
from /usr/local/include/boost/thread/pthread/condition_variable.hpp:9,
from /usr/local/include/boost/thread/condition_variable.hpp:16,
from /usr/local/include/boost/thread/condition.hpp:13,
from /opt/ros/kinetic/include/actionlib/client/simple_action_client.h:38,
from /home/liuhongwei/catkin_ws/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Client.cpp:2:
/usr/local/include/boost/date_time/time_duration.hpp:270:30: note: candidate: boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>::subsecond_duration(const boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>&)
class BOOST_SYMBOL_VISIBLE subsecond_duration : public base_duration
^
/usr/local/include/boost/date_time/time_duration.hpp:270:30: note: no known conversion for argument 1 from ‘float’ to ‘const boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>&’
In file included from /opt/ros/kinetic/include/actionlib/server/handle_tracker_deleter.h:42:0,
from /opt/ros/kinetic/include/actionlib/server/action_server.h:51,
from /opt/ros/kinetic/include/actionlib/server/simple_action_server.h:42,
from /home/liuhongwei/catkin_ws/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Server.cpp:2:
/opt/ros/kinetic/include/actionlib/destruction_guard.h: In member function ‘void actionlib::DestructionGuard::destruct()’:
/opt/ros/kinetic/include/actionlib/destruction_guard.h:62:80: error: no matching function for call to ‘boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>::subsecond_duration(float)’
count_condition_.timed_wait(lock, boost::posix_time::milliseconds(1000.0f));
^
In file included from /usr/local/include/boost/date_time/posix_time/posix_time_config.hpp:16:0,
from /usr/local/include/boost/date_time/posix_time/posix_time_system.hpp:13,
from /usr/local/include/boost/date_time/posix_time/ptime.hpp:12,
from /usr/local/include/boost/date_time/posix_time/posix_time_types.hpp:12,
from /usr/local/include/boost/thread/thread_time.hpp:11,
from /usr/local/include/boost/thread/detail/platform_time.hpp:11,
from /usr/local/include/boost/thread/pthread/condition_variable.hpp:9,
from /usr/local/include/boost/thread/condition_variable.hpp:16,
from /usr/local/include/boost/thread/condition.hpp:13,
from /opt/ros/kinetic/include/actionlib/server/simple_action_server.h:40,
from /home/liuhongwei/catkin_ws/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Server.cpp:2:
/usr/local/include/boost/date_time/time_duration.hpp:285:14: note: candidate: template boost::date_time::subsecond_duration<base_duration, frac_of_second>::subsecond_duration(const T&, typename boost::enable_if<boost::is_integral, void>::type*)
explicit subsecond_duration(T const& ss,
^
/usr/local/include/boost/date_time/time_duration.hpp:285:14: note: template argument deduction/substitution failed:
/usr/local/include/boost/date_time/time_duration.hpp: In substitution of ‘template boost::date_time::subsecond_duration<base_duration, frac_of_second>::subsecond_duration(const T&, typename boost::enable_if<boost::is_integral, void>::type*) [with T = float]’:
/opt/ros/kinetic/include/actionlib/destruction_guard.h:62:80: required from here
/usr/local/include/boost/date_time/time_duration.hpp:285:14: error: no type named ‘type’ in ‘struct boost::enable_if<boost::is_integral, void>’
In file included from /usr/local/include/boost/date_time/posix_time/posix_time_config.hpp:16:0,
from /usr/local/include/boost/date_time/posix_time/posix_time_system.hpp:13,
from /usr/local/include/boost/date_time/posix_time/ptime.hpp:12,
from /usr/local/include/boost/date_time/posix_time/posix_time_types.hpp:12,
from /usr/local/include/boost/thread/thread_time.hpp:11,
from /usr/local/include/boost/thread/detail/platform_time.hpp:11,
from /usr/local/include/boost/thread/pthread/condition_variable.hpp:9,
from /usr/local/include/boost/thread/condition_variable.hpp:16,
from /usr/local/include/boost/thread/condition.hpp:13,
from /opt/ros/kinetic/include/actionlib/server/simple_action_server.h:40,
from /home/liuhongwei/catkin_ws/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Server.cpp:2:
/usr/local/include/boost/date_time/time_duration.hpp:270:30: note: candidate: boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>::subsecond_duration(const boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>&)
class BOOST_SYMBOL_VISIBLE subsecond_duration : public base_duration
^
/usr/local/include/boost/date_time/time_duration.hpp:270:30: note: no known conversion for argument 1 from ‘float’ to ‘const boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>&’
In file included from /home/liuhongwei/catkin_ws/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Client.cpp:2:0:
/opt/ros/kinetic/include/actionlib/client/simple_action_client.h: In instantiation of ‘bool actionlib::SimpleActionClient::waitForResult(const ros::Duration&) [with ActionSpec = action_demo::DoDishesAction_<std::allocator >]’:
/home/liuhongwei/catkin_ws/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Client.cpp:14:43: required from here
/opt/ros/kinetic/include/actionlib/client/simple_action_client.h:604:31: error: no matching function for call to ‘boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>::subsecond_duration(double)’
done_condition_.timed_wait(lock, boost::posix_time::milliseconds(time_left.toSec() * 1000.0f));
^
In file included from /usr/local/include/boost/date_time/posix_time/posix_time_config.hpp:16:0,
from /usr/local/include/boost/date_time/posix_time/posix_time_system.hpp:13,
from /usr/local/include/boost/date_time/posix_time/ptime.hpp:12,
from /usr/local/include/boost/date_time/posix_time/posix_time_types.hpp:12,
from /usr/local/include/boost/thread/thread_time.hpp:11,
from /usr/local/include/boost/thread/detail/platform_time.hpp:11,
from /usr/local/include/boost/thread/pthread/condition_variable.hpp:9,
from /usr/local/include/boost/thread/condition_variable.hpp:16,
from /usr/local/include/boost/thread/condition.hpp:13,
from /opt/ros/kinetic/include/actionlib/client/simple_action_client.h:38,
from /home/liuhongwei/catkin_ws/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Client.cpp:2:
/usr/local/include/boost/date_time/time_duration.hpp:285:14: note: candidate: template boost::date_time::subsecond_duration<base_duration, frac_of_second>::subsecond_duration(const T&, typename boost::enable_if<boost::is_integral, void>::type*)
explicit subsecond_duration(T const& ss,
^
/usr/local/include/boost/date_time/time_duration.hpp:285:14: note: template argument deduction/substitution failed:
/usr/local/include/boost/date_time/time_duration.hpp: In substitution of ‘template boost::date_time::subsecond_duration<base_duration, frac_of_second>::subsecond_duration(const T&, typename boost::enable_if<boost::is_integral, void>::type*) [with T = double]’:
/opt/ros/kinetic/include/actionlib/client/simple_action_client.h:604:31: required from ‘bool actionlib::SimpleActionClient::waitForResult(const ros::Duration&) [with ActionSpec = action_demo::DoDishesAction_<std::allocator >]’
/home/liuhongwei/catkin_ws/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Client.cpp:14:43: required from here
/usr/local/include/boost/date_time/time_duration.hpp:285:14: error: no type named ‘type’ in ‘struct boost::enable_if<boost::is_integral, void>’
In file included from /usr/local/include/boost/date_time/posix_time/posix_time_config.hpp:16:0,
from /usr/local/include/boost/date_time/posix_time/posix_time_system.hpp:13,
from /usr/local/include/boost/date_time/posix_time/ptime.hpp:12,
from /usr/local/include/boost/date_time/posix_time/posix_time_types.hpp:12,
from /usr/local/include/boost/thread/thread_time.hpp:11,
from /usr/local/include/boost/thread/detail/platform_time.hpp:11,
from /usr/local/include/boost/thread/pthread/condition_variable.hpp:9,
from /usr/local/include/boost/thread/condition_variable.hpp:16,
from /usr/local/include/boost/thread/condition.hpp:13,
from /opt/ros/kinetic/include/actionlib/client/simple_action_client.h:38,
from /home/liuhongwei/catkin_ws/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Client.cpp:2:
/opt/ros/kinetic/include/actionlib/client/simple_action_client.h: In instantiation of ‘bool actionlib::SimpleActionClient::waitForResult(const ros::Duration&) [with ActionSpec = action_demo::DoDishesAction_<std::allocator >]’:
/home/liuhongwei/catkin_ws/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Client.cpp:14:43: required from here
/usr/local/include/boost/date_time/time_duration.hpp:270:30: note: candidate: boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>::subsecond_duration(const boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>&)
class BOOST_SYMBOL_VISIBLE subsecond_duration : public base_duration
^
/usr/local/include/boost/date_time/time_duration.hpp:270:30: note: no known conversion for argument 1 from ‘double’ to ‘const boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>&’
In file included from /opt/ros/kinetic/include/actionlib/server/simple_action_server.h:256:0,
from /home/liuhongwei/catkin_ws/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Server.cpp:2:
/opt/ros/kinetic/include/actionlib/server/simple_action_server_imp.h: In instantiation of ‘void actionlib::SimpleActionServer::executeLoop() [with ActionSpec = action_demo::DoDishesAction_<std::allocator >]’:
/opt/ros/kinetic/include/actionlib/server/simple_action_server_imp.h:111:53: required from ‘actionlib::SimpleActionServer::SimpleActionServer(ros::NodeHandle, std::_cxx11::string, actionlib::SimpleActionServer::ExecuteCallback, bool) [with ActionSpec = action_demo::DoDishesAction<std::allocator >; std::__cxx11::string = std::cxx11::basic_string; actionlib::SimpleActionServer::ExecuteCallback = boost::function<void(const boost::shared_ptr<const action_demo::DoDishesGoal<std::allocator > >&)>; typename ActionSpec::action_goal_type::goal_type = action_demo::DoDishesGoal<std::allocator >]’
/home/liuhongwei/catkin_ws/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Server.cpp:16:74: required from here
/opt/ros/kinetic/include/actionlib/server/simple_action_server_imp.h:396:36: error: no matching function for call to ‘boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>::subsecond_duration(double)’
execute_condition.timed_wait(lock,
^
In file included from /usr/local/include/boost/date_time/posix_time/posix_time_config.hpp:16:0,
from /usr/local/include/boost/date_time/posix_time/posix_time_system.hpp:13,
from /usr/local/include/boost/date_time/posix_time/ptime.hpp:12,
from /usr/local/include/boost/date_time/posix_time/posix_time_types.hpp:12,
from /usr/local/include/boost/thread/thread_time.hpp:11,
from /usr/local/include/boost/thread/detail/platform_time.hpp:11,
from /usr/local/include/boost/thread/pthread/condition_variable.hpp:9,
from /usr/local/include/boost/thread/condition_variable.hpp:16,
from /usr/local/include/boost/thread/condition.hpp:13,
from /opt/ros/kinetic/include/actionlib/server/simple_action_server.h:40,
from /home/liuhongwei/catkin_ws/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Server.cpp:2:
/usr/local/include/boost/date_time/time_duration.hpp:285:14: note: candidate: template boost::date_time::subsecond_duration<base_duration, frac_of_second>::subsecond_duration(const T&, typename boost::enable_if<boost::is_integral, void>::type*)
explicit subsecond_duration(T const& ss,
^
/usr/local/include/boost/date_time/time_duration.hpp:285:14: note: template argument deduction/substitution failed:
/usr/local/include/boost/date_time/time_duration.hpp: In substitution of ‘template boost::date_time::subsecond_duration<base_duration, frac_of_second>::subsecond_duration(const T&, typename boost::enable_if<boost::is_integral, void>::type*) [with T = double]’:
/opt/ros/kinetic/include/actionlib/server/simple_action_server_imp.h:396:36: required from ‘void actionlib::SimpleActionServer::executeLoop() [with ActionSpec = action_demo::DoDishesAction<std::allocator >]’
/opt/ros/kinetic/include/actionlib/server/simple_action_server_imp.h:111:53: required from ‘actionlib::SimpleActionServer::SimpleActionServer(ros::NodeHandle, std::_cxx11::string, actionlib::SimpleActionServer::ExecuteCallback, bool) [with ActionSpec = action_demo::DoDishesAction<std::allocator >; std::__cxx11::string = std::_cxx11::basic_string; actionlib::SimpleActionServer::ExecuteCallback = boost::function<void(const boost::shared_ptr<const action_demo::DoDishesGoal<std::allocator > >&)>; typename ActionSpec::action_goal_type::goal_type = action_demo::DoDishesGoal<std::allocator >]’
/home/liuhongwei/catkin_ws/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Server.cpp:16:74: required from here
/usr/local/include/boost/date_time/time_duration.hpp:285:14: error: no type named ‘type’ in ‘struct boost::enable_if<boost::is_integral, void>’
In file included from /usr/local/include/boost/date_time/posix_time/posix_time_config.hpp:16:0,
from /usr/local/include/boost/date_time/posix_time/posix_time_system.hpp:13,
from /usr/local/include/boost/date_time/posix_time/ptime.hpp:12,
from /usr/local/include/boost/date_time/posix_time/posix_time_types.hpp:12,
from /usr/local/include/boost/thread/thread_time.hpp:11,
from /usr/local/include/boost/thread/detail/platform_time.hpp:11,
from /usr/local/include/boost/thread/pthread/condition_variable.hpp:9,
from /usr/local/include/boost/thread/condition_variable.hpp:16,
from /usr/local/include/boost/thread/condition.hpp:13,
from /opt/ros/kinetic/include/actionlib/server/simple_action_server.h:40,
from /home/liuhongwei/catkin_ws/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Server.cpp:2:
/opt/ros/kinetic/include/actionlib/server/simple_action_server_imp.h: In instantiation of ‘void actionlib::SimpleActionServer::executeLoop() [with ActionSpec = action_demo::DoDishesAction<std::allocator >]’:
/opt/ros/kinetic/include/actionlib/server/simple_action_server_imp.h:111:53: required from ‘actionlib::SimpleActionServer::SimpleActionServer(ros::NodeHandle, std::_cxx11::string, actionlib::SimpleActionServer::ExecuteCallback, bool) [with ActionSpec = action_demo::DoDishesAction<std::allocator >; std::__cxx11::string = std::_cxx11::basic_string; actionlib::SimpleActionServer::ExecuteCallback = boost::function<void(const boost::shared_ptr<const action_demo::DoDishesGoal<std::allocator > >&)>; typename ActionSpec::_action_goal_type::goal_type = action_demo::DoDishesGoal<std::allocator >]’
/home/liuhongwei/catkin_ws/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Server.cpp:16:74: required from here
/usr/local/include/boost/date_time/time_duration.hpp:270:30: note: candidate: boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>::subsecond_duration(const boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>&)
class BOOST_SYMBOL_VISIBLE subsecond_duration : public base_duration
^
/usr/local/include/boost/date_time/time_duration.hpp:270:30: note: no known conversion for argument 1 from ‘double’ to ‘const boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>&’
ROS-Academy-for-Beginners/action_demo/CMakeFiles/dishes_Client.dir/build.make:62: recipe for target 'ROS-Academy-for-Beginners/action_demo/CMakeFiles/dishes_Client.dir/src/dishes_Client.cpp.o' failed
make[2]: *** [ROS-Academy-for-Beginners/action_demo/CMakeFiles/dishes_Client.dir/src/dishes_Client.cpp.o] Error 1
CMakeFiles/Makefile2:3162: recipe for target 'ROS-Academy-for-Beginners/action_demo/CMakeFiles/dishes_Client.dir/all' failed
make[1]: *** [ROS-Academy-for-Beginners/action_demo/CMakeFiles/dishes_Client.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
ROS-Academy-for-Beginners/action_demo/CMakeFiles/dishes_Server.dir/build.make:62: recipe for target 'ROS-Academy-for-Beginners/action_demo/CMakeFiles/dishes_Server.dir/src/dishes_Server.cpp.o' failed
make[2]: *** [ROS-Academy-for-Beginners/action_demo/CMakeFiles/dishes_Server.dir/src/dishes_Server.cpp.o] Error 1
CMakeFiles/Makefile2:3057: recipe for target 'ROS-Academy-for-Beginners/action_demo/CMakeFiles/dishes_Server.dir/all' failed
make[1]: *** [ROS-Academy-for-Beginners/action_demo/CMakeFiles/dishes_Server.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j4 -l4" failed
请问怎么解决啊，ros小白。。。。

关于gazebo建模问题

柴老师，您好，十分感谢您的课程，我在这堂课里学到了许多。我的课程恰巧也是一个关于轮式机器人的控制设计，您的课程让我受益良多。
现在我想在gazebo里建立一个场景的模型，期待的最终效果就像您在例程里面所构建的博物馆那样。但是我试了试gazebo里面自带的建模工具，总是达不到您的那种逼真的效果。在这里想问问您是用什么工具构建的场景，具体的操作步骤又是什么。希望能得到您的指点。
您的课程为我打开了ros学习的大门，可当我想再进一步的时候却被目前各式各样的教程迷乱了双眼，不知您有没有再开课程的计划能更详细的讲解ros的开发。我也恰巧是一名北京的学生，如果有线下的课程我也希望能前来学习。
最后，再次感谢您，希望能得到您的回复

gazebo的问题

您好 [我在运行robot_sim_demo时候，发现整个博物馆和机器人的一些部分显示不出来，如图](url)

进一步发现在工作空间里自己定义的mesh文件家里的dae文件加载不出来，而官方自带的模块却可以，请问您遇到过类似的情况吗？我用的是ubuntu18.04 他的gazebo是9.0版本，谢谢！

请问大家有没有遇到过这个问题？？？卡在这儿挺长时间了

Could not find a package configuration file provided by "move_base" with
any of the following names:

move_baseConfig.cmake
move_base-config.cmake

Add the installation prefix of "move_base" to CMAKE_PREFIX_PATH or set
"move_base_DIR" to a directory containing one of the above files. If
"move_base" provides a separate development package or SDK, be sure it has
been installed.
明明我在build文件夹下能找到这个文件啊

在indigo 版本运行出错.

您好我在解决依赖性遇到了如图所示的问题希望得到解决！

noetic 运行 rosdep install 出错

mathxh@MathxH:~/catkin_ws$ rosdep install --from-paths src --ignore-src --rosdistro=noetic -y
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
robot_sim_demo: Cannot locate rosdep definition for [yocs_cmd_vel_mux]
mathxh@MathxH:~/catkin_ws$ env | grep noetic
PKG_CONFIG_PATH=/opt/ros/noetic/lib/pkgconfig
ROS_PACKAGE_PATH=/home/mathxh/catkin_ws/src:/opt/ros/noetic/share
ROS_ETC_DIR=/opt/ros/noetic/etc/ros
CMAKE_PREFIX_PATH=/home/mathxh/catkin_ws/devel:/opt/ros/noetic
PYTHONPATH=/opt/ros/noetic/lib/python3/dist-packages
LD_LIBRARY_PATH=/home/mathxh/catkin_ws/devel/lib:/opt/ros/noetic/lib
PATH=/opt/ros/noetic/bin:/home/mathxh/.cargo/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/usr/lib/wsl/lib:/mnt/c/WINDOWS/system32:/mnt/c/WINDOWS:/mnt/c/WINDOWS/System32/Wbem:/mnt/c/WINDOWS/System32/WindowsPowerShell/v1.0/:/mnt/c/WINDOWS/System32/OpenSSH/:/mnt/c/ProgramData/chocolatey/bin:/mnt/c/Program Files/dotnet/:/mnt/c/Program Files (x86)/dotnet/:/mnt/d/App/Git/cmd:/mnt/c/Users/brain/.jdks/corretto-1.8.0_312/bin:/mnt/d/App/komorebi/bin:/mnt/c/Program Files/PuTTY/:/mnt/c/Users/brain/.cargo/bin:/mnt/c/Users/brain/AppData/Local/Microsoft/WindowsApps:/mnt/c/Users/brain/AppData/Local/Programs/Microsoft VS Code/bin:/mnt/c/Users/brain/.dotnet/tools:/mnt/d/App/GoLand 2021.1/bin:/snap/bin:/usr/local/go/bin
ROS_ROOT=/opt/ros/noetic/share/ros
ROS_DISTRO=noetic

slam_sim_demo 中的文档 README.md

$ roslaunch slam_sim_demo view_navigation.launch

上面这一句报错找不到view_navigation.launch，
文档是不是写错了，应该是

$ roslaunch slam_sim_demo view_slam.launch

？？？？

Model地图场景

首先感谢教程以及源码分享。。。
我想问下仿真里面的model是直接改源码生成，比如地面纹理，还是通过其他方法导入。我现在做自动驾驶的模拟，需要在ground上加车道线。

谢谢

Can this program run in ROS melodic version?

I use ubuntu18.04 and gazebo 9

Invoking "make cmake_check_build_system" failed

用那个推荐的编译器写基础教程时出现的问题！！！！！！！！！！
就是那啥catkin_ws过不了
CMake Error at ROS-Academy-for-Beginners-master/topic_demo/CMakeLists.txt:154 (add_executable):
add_executable cannot create target "talker" because another target with
the same name already exists. The existing target is an executable created
in source directory "/home/daniao/catkin_ws/src/beginner_tutorials". See
documentation for policy CMP0002 for more details.

CMake Error at ROS-Academy-for-Beginners-master/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library "/opt/ros/kinetic/lib/libroscpp.so" to target
"talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners-master/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library
"/usr/lib/x86_64-linux-gnu/libboost_filesystem.so" to target "talker" which
is not built in this directory.

CMake Error at ROS-Academy-for-Beginners-master/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/libboost_signals.so"
to target "talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners-master/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library "/opt/ros/kinetic/lib/librosconsole.so" to
target "talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners-master/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library "/opt/ros/kinetic/lib/librosconsole_log4cxx.so"
to target "talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners-master/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library
"/opt/ros/kinetic/lib/librosconsole_backend_interface.so" to target
"talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners-master/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/liblog4cxx.so" to
target "talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners-master/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/libboost_regex.so"
to target "talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners-master/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library "/opt/ros/kinetic/lib/libxmlrpcpp.so" to target
"talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners-master/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library
"/opt/ros/kinetic/lib/libroscpp_serialization.so" to target "talker" which
is not built in this directory.

CMake Error at ROS-Academy-for-Beginners-master/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library "/opt/ros/kinetic/lib/librostime.so" to target
"talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners-master/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library "/opt/ros/kinetic/lib/libcpp_common.so" to
target "talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners-master/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/libboost_system.so"
to target "talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners-master/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/libboost_thread.so"
to target "talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners-master/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/libboost_chrono.so"
to target "talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners-master/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library
"/usr/lib/x86_64-linux-gnu/libboost_date_time.so" to target "talker" which
is not built in this directory.

CMake Error at ROS-Academy-for-Beginners-master/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/libboost_atomic.so"
to target "talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners-master/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library "/usr/lib/x86_64-linux-gnu/libpthread.so" to
target "talker" which is not built in this directory.

CMake Error at ROS-Academy-for-Beginners-master/topic_demo/CMakeLists.txt:157 (target_link_libraries):
Attempt to add link library
"/usr/lib/x86_64-linux-gnu/libconsole_bridge.so" to target "talker" which
is not built in this directory.

rosrun robot_sim_demo 小车不能动

老师为什么我rosrun robot_sim_demo 自动补全后鼠标在终端里用键盘控制小车但是小车不能在gazebo动打开rosnode list也没有cml vel这个

请教并联机器人可以使用ros进行建模和仿真吗

请教一下：1.并联机器人可以再ros上进行建模仿真然后控制机器人本体吗？需要自己做一些什么工作呢

版本更新问题

可否有ubuntu20可以运行的呢，现在21年了，想用比较新的版本

安装依赖时出错，系统版本ubuntu 18.04，ros版本melodic，原因是什么？谢谢

vincent@vincent-PC: ~$ cd ~/catkin_ws
vincent@vincent-PC: ~/catkin_ws$ rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
robot_sim_demo: No definition of [yocs_cmd_vel_mux] for OS version [bionic]
navigation_sim_demo: No definition of [dwa_local_planner] for OS version [bionic]
slam_sim_demo: No definition of [hector_mapping] for OS version [bionic]

cartographer demo

cartographerdemo 的launch文件两个主节点合成一个又一个节点加载两个.lua文件报错能不能吧好的launch分享下

无法得到模型

环境：ubuntu16.04
ros：kinetic
gazebo：8.6.0
程序都已经编译好了，运行roslaunch robot_sim_demo robot_spawn.launch
无法得到正确的模型，如图

log如下：

... logging to /home/ubuntu/.ros/log/36ae25a6-5c03-11e9-b72e-00117f13914c/roslaunch-ubuntu-OptiPlex-960-24353.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
started roslaunch server http://ubuntu-OptiPlex-960:35975/

SUMMARY
========

PARAMETERS
 * /cmd_vel_mux/yaml_cfg_file: /home/ubuntu/test...
 * /robot_description: <?xml version="1....
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /use_sim_time: True
 * /xbot/joint_state_controller/publish_rate: 50
 * /xbot/joint_state_controller/type: joint_state_contr...
 * /xbot/pitch_platform_position_controller/joint: yaw_to_pitch_plat...
 * /xbot/pitch_platform_position_controller/pid/d: 10.0
 * /xbot/pitch_platform_position_controller/pid/i: 0.01
 * /xbot/pitch_platform_position_controller/pid/p: 100.0
 * /xbot/pitch_platform_position_controller/type: effort_controller...
 * /xbot/robot_state_publisher/publish_frequency: 20.0
 * /xbot/yaw_platform_position_controller/joint: base_to_yaw_platform
 * /xbot/yaw_platform_position_controller/pid/d: 10.0
 * /xbot/yaw_platform_position_controller/pid/i: 0.01
 * /xbot/yaw_platform_position_controller/pid/p: 100.0
 * /xbot/yaw_platform_position_controller/type: effort_controller...

NODES
  /xbot/
    robot_state_publisher (robot_state_publisher/robot_state_publisher)
    spawner (controller_manager/spawner)
  /
    cmd_vel_mux (nodelet/nodelet)
    gazebo (gazebo_ros/gzserver)
    gazebo_gui (gazebo_ros/gzclient)
    mobile_base_nodelet_manager (nodelet/nodelet)
    urdf_spawner (gazebo_ros/spawn_model)

auto-starting new master
process[master]: started with pid [24366]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 36ae25a6-5c03-11e9-b72e-00117f13914c
process[rosout-1]: started with pid [24379]
started core service [/rosout]
process[gazebo-2]: started with pid [24399]
process[gazebo_gui-3]: started with pid [24408]
process[urdf_spawner-4]: started with pid [24413]
process[xbot/spawner-5]: started with pid [24414]
process[xbot/robot_state_publisher-6]: started with pid [24415]
process[mobile_base_nodelet_manager-7]: started with pid [24416]
process[cmd_vel_mux-8]: started with pid [24426]
[INFO] [1554950450.420971, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
[ INFO] [1554950450.494971468]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1554950450.496213075]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
[ INFO] [1554950450.603158936]: Finished loading Gazebo ROS API Plugin.
[ INFO] [1554950450.604651437]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised, waiting...
SpawnModel script started
[INFO] [1554950450.984909, 0.000000]: Loading model XML from ros parameter
[INFO] [1554950450.989013, 0.000000]: Waiting for service /gazebo/spawn_urdf_model
[INFO] [1554950451.594650, 0.000000]: Calling service /gazebo/spawn_urdf_model
Warning [parser.cc:838] XML Element[mu], child of element[link] not defined in SDF. Ignoring[mu]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:838] XML Element[mu], child of element[link] not defined in SDF. Ignoring[mu]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:838] XML Element[mu], child of element[link] not defined in SDF. Ignoring[mu]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:838] XML Element[mu], child of element[link] not defined in SDF. Ignoring[mu]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
Warning [parser.cc:838] XML Element[mu], child of element[link] not defined in SDF. Ignoring[mu]. You may have an incorrect SDF file, or an sdformat version that doesn't support this element.
[INFO] [1554950453.757049, 0.001000]: Spawn status: SpawnModel: Successfully spawned entity
[ INFO] [1554950453.907029952, 0.001000000]: Loading gazebo_ros_control plugin
[ INFO] [1554950453.907467380, 0.001000000]: Starting gazebo_ros_control plugin in namespace: /xbot
[ INFO] [1554950453.909376902, 0.001000000]: gazebo_ros_control plugin is waiting for model URDF in parameter [/robot_description] on the ROS param server.
[urdf_spawner-4] process has finished cleanly
log file: /home/ubuntu/.ros/log/36ae25a6-5c03-11e9-b72e-00117f13914c/urdf_spawner-4*.log
[ WARN] [1554950454.031958429, 0.001000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'base_to_yaw_platform'.
[ WARN] [1554950454.033772617, 0.001000000]: Deprecated syntax, please prepend 'hardware_interface/' to 'EffortJointInterface' within the <hardwareInterface> tag in joint 'yaw_to_pitch_platform'.
[INFO] [1554950454.046065, 0.001000]: Controller Spawner: Waiting for service controller_manager/switch_controller
[ INFO] [1554950454.048094734, 0.001000000]: Loaded gazebo_ros_control.
[INFO] [1554950454.049199, 0.001000]: Controller Spawner: Waiting for service controller_manager/unload_controller
[INFO] [1554950454.051939, 0.002000]: Loading controller: joint_state_controller
[INFO] [1554950454.069773, 0.012000]: Loading controller: yaw_platform_position_controller
[ INFO] [1554950454.084982113, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1554950454.086037083, 0.022000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
[ INFO] [1554950454.273298212, 0.161000000]: Physics dynamic reconfigure ready.
[ INFO] [1554950454.322919869, 0.203000000]: Physics dynamic reconfigure ready.
[INFO] [1554950454.355930, 0.230000]: Loading controller: pitch_platform_position_controller
[INFO] [1554950454.455358, 0.315000]: Controller Spawner: Loaded controllers: joint_state_controller, yaw_platform_position_controller, pitch_platform_position_controller
[INFO] [1554950454.459460, 0.317000]: Started controllers: joint_state_controller, yaw_platform_position_controller, pitch_platform_position_controller
^C[cmd_vel_mux-8] killing on exit
[mobile_base_nodelet_manager-7] killing on exit
[xbot/spawner-5] killing on exit
[xbot/robot_state_publisher-6] killing on exit
[gazebo-2] killing on exit
[gazebo_gui-3] killing on exit
[INFO] [1554950673.869067, 216.056000]: Shutting down spawner. Stopping and unloading controllers...
[INFO] [1554950673.870748, 216.058000]: Stopping all controllers...
[INFO] [1554950673.880746, 216.063000]: Unloading all loaded controllers...
[INFO] [1554950673.881388, 216.064000]: Trying to unload pitch_platform_position_controller
[INFO] [1554950673.900128, 216.074000]: Succeeded in unloading pitch_platform_position_controller
[INFO] [1554950673.900967, 216.076000]: Trying to unload yaw_platform_position_controller
[INFO] [1554950673.921978, 216.083000]: Succeeded in unloading yaw_platform_position_controller
[INFO] [1554950673.922512, 216.083000]: Trying to unload joint_state_controller
[INFO] [1554950673.928146, 216.087000]: Succeeded in unloading joint_state_controller

rosrun没有robot_sim_demo

想用键盘控制robot的运动，按照步骤都安装编译成功，但用rosrun并没有robot_sim_demo
如下安装成功的提示：

ubuntu@ubuntu:~/catkin_ws$ rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
#All required rosdeps installed successfully

Unable to locate package ros-kinetic-move-base

it says：
E: Unable to locate package ros-kinetic-move-base
ERROR: the following rosdeps failed to install
apt: command [sudo -H apt-get install -y ros-kinetic-move-base] failed
and I tried to reopen the whole program but it did't work

请问在开发的过程中是怎么知道需要依赖这些依赖项？

在第二步中，安装教学包所需的依赖

$ cd ~/catkin_ws
$ rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
上面这一句依赖项的安装不太能理解，不明白系统为什么能够自动识别要安装的这些依赖。

roslaunch robot_sim_demo robot_spawn.launch 显示问题

`yzk@yzk-Lenovo-Product:~/catkin_ws/src$ roslaunch robot_sim_demo robot_spawn.launch
... logging to /home/yzk/.ros/log/e16ecaf6-341b-11e8-b944-f80f41de0ba6/roslaunch-yzk-Lenovo-Product-8841.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
xacro.py is deprecated; please use xacro instead
`

roslaunch robot_sim_demo robot_spawn.launch 在noetic下出错

... logging to /home/mathxh/.ros/log/21778580-e63c-11ec-82f3-00155d034991/roslaunch-MathxH-18995.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

RLException: while processing /home/mathxh/catkin_ws/src/ROS-Academy-for-Beginners/robot_sim_demo/launch/include/xbot-u.launch.xml:
Invalid <param> tag: Cannot load command parameter [robot_description]: no such command [['/opt/ros/noetic/share/xacro/xacro.py', '/home/mathxh/catkin_ws/src/ROS-Academy-for-Beginners/robot_sim_demo/urdf/robot.xacro']].

Param xml is <param name="robot_description" command="$(find xacro)/xacro.py $(find robot_sim_demo)/urdf/robot.xacro"/>
The traceback for the exception was written to the log file

confusing code: q.setRPY(yaw,pitch,roll);

I found confusing code in ROS-Academy-for-Beginners/tf_demo/src/coordinate_transformation.cpp:

q.setRPY(yaw,pitch,roll);

But it should be set by sequence roll,pitch,yaw

与orb2slam的对接

在运行launch时找不到RGBD节点

确认已经添加了pkg的路径，以下是~/.bashrc的部分内容

运行 roslaunch robot_sim_demo robot_spawn.launch报错，请问大家有遇到过的吗？

Traceback (most recent call last):
File "/opt/ros/kinetic/share/xacro/xacro.py", line 55, in
import xacro
File "/opt/ros/kinetic/lib/python2.7/dist-packages/xacro/init.py", line 35, in
import glob
File "/home/cdl/software/anaconda3/lib/python3.5/glob.py", line 4, in
import re
ImportError: No module named 're'
while processing /home/cdl/tutorial_ws/src/ROS-Academy-for-Beginners/robot_sim_demo/launch/include/xbot-u.launch.xml:
Invalid tag: Cannot load command parameter [robot_description]: command [/opt/ros/kinetic/share/xacro/xacro.py /home/cdl/tutorial_ws/src/ROS-Academy-for-Beginners/robot_sim_demo/urdf/robot.xacro] returned with code [1].

Param xml is
The traceback for the exception was written to the log file

melodic cmake 出现问题

CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by "hector_mapping"
with any of the following names:

hector_mappingConfig.cmake
hector_mapping-config.cmake

Add the installation prefix of "hector_mapping" to CMAKE_PREFIX_PATH or set
"hector_mapping_DIR" to a directory containing one of the above files. If
"hector_mapping" provides a separate development package or SDK, be sure it
has been installed.
Call Stack (most recent call first):
ROS-Academy-for-Beginners/slam_sim_demo/CMakeLists.txt:3 (find_package)

-- Configuring incomplete, errors occurred!
See also "/home/mt/tutorial_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/mt/tutorial_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

gazebo里的模型加载不出来是什么原因?

您好，希望能更新imu模型数据

您好，我们迫切希望能仿真vins-mono框架
但是需要更加详细的imu数据，所需数据如下所示
如果能回复，不胜感激！
#imu parameters The more accurate parameters you provide, the better performance
acc_n: 0.04 # accelerometer measurement noise standard deviation. #0.2 0.04
gyr_n: 0.004 # gyroscope measurement noise standard deviation. #0.05 0.004
acc_w: 0.0004 # accelerometer bias random work noise standard deviation. #0.02
gyr_w: 2.0e-5 # gyroscope bias random work noise standard deviation. #4.0e-5
g_norm: 9.80766 # gravity magnitude

安装依赖时出错，系统版本是ubuntu kylin 14.04，请问是什么原因？谢谢。

以下是错误
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
robot_sim_demo: No definition of [yocs_cmd_vel_mux] for OS version [trusty]
navigation_sim_demo: No definition of [dwa_local_planner] for OS version [trusty]
slam_sim_demo: No definition of [hector_mapping] for OS version [trusty]

error:

[gazebo-2] process has died [pid 15867, exit code 255, cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver -e ode /home/egbert/catkin_ws/src/ROS-Academy-for-Beginners/robot_sim_demo/worlds/ROS-Academy.world __name:=gazebo __log:=/home/egbert/.ros/log/dc3d7d62-38ac-11e8-b37c-64fb816eab88/gazebo-2.log].
log file: /home/egbert/.ros/log/dc3d7d62-38ac-11e8-b37c-64fb816eab88/gazebo-2*.log
libGL error: failed to create drawable

您好，请问我在运行robot_sim_demo时出现这个问题是怎么回事呢？求解，谢谢您。顺便问一下您该怎么样解决呢？

catkin_make时出现以下问题

附上部分出错代码，ros小白请问大家，如何解决
In file included from /opt/ros/kinetic/include/actionlib/managed_list.h:38:0,
from /opt/ros/kinetic/include/actionlib/client/client_helpers.h:47,
from /opt/ros/kinetic/include/actionlib/client/action_client.h:38,
from /opt/ros/kinetic/include/actionlib/client/simple_action_client.h:47,
from /home/liuhongwei/catkin_ws/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Client.cpp:2:
/opt/ros/kinetic/include/actionlib/destruction_guard.h: In member function ‘void actionlib::DestructionGuard::destruct()’:
/opt/ros/kinetic/include/actionlib/destruction_guard.h:62:80: error: no matching function for call to ‘boost::date_time::subsecond_duration<boost::posix_time::time_duration, 1000l>::subsecond_duration(float)’
count_condition_.timed_wait(lock, boost::posix_time::milliseconds(1000.0f));
^
In file included from /usr/local/include/boost/date_time/posix_time/posix_time_config.hpp:16:0,
from /usr/local/include/boost/date_time/posix_time/posix_time_system.hpp:13,
from /usr/local/include/boost/date_time/posix_time/ptime.hpp:12,
from /usr/local/include/boost/date_time/posix_time/posix_time_types.hpp:12,
from /usr/local/include/boost/thread/thread_time.hpp:11,
from /usr/local/include/boost/thread/detail/platform_time.hpp:11,
from /usr/local/include/boost/thread/pthread/condition_variable.hpp:9,
from /usr/local/include/boost/thread/condition_variable.hpp:16,
from /usr/local/include/boost/thread/condition.hpp:13,
from /opt/ros/kinetic/include/actionlib/client/simple_action_client.h:38,
from /home/liuhongwei/catkin_ws/src/ROS-Academy-for-Beginners/action_demo/src/dishes_Client.cpp:2:
/usr/local/include/boost/date_time/time_duration.hpp:285:14: note: candidate: template boost::date_time::subsecond_duration<base_duration, frac_of_second>::subsecond_duration(const T&, typename boost::enable_if<boost::is_integral, void>::type*)
explicit subsecond_duration(T const& ss,
^

在rviz中无法看到激光雷达的红线

运行了仿真环境后，打开rviz，在rviz中添加雷达的节点信息/scan，但在地图上不显示激光雷达扫出来的红线，问一下是什么原因导致的，希望哪位老师能为我解惑

Invoking "cmake" failed

您好，我在按照步骤安装这个教学包的时候，出现了如下错误：可否帮我看以下，非常感谢
-- +++ processing catkin package: 'navigation_sim_demo'
-- ==> add_subdirectory(ROS-Academy-for-Beginners/navigation_sim_demo)
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
-- Could NOT find move_base (missing: move_base_DIR)
-- Could not find the required component 'move_base'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/melodic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
Could not find a package configuration file provided by "move_base" with
any of the following names:

move_baseConfig.cmake
move_base-config.cmake

Add the installation prefix of "move_base" to CMAKE_PREFIX_PATH or set
"move_base_DIR" to a directory containing one of the above files. If
"move_base" provides a separate development package or SDK, be sure it has
been installed.
Call Stack (most recent call first):
ROS-Academy-for-Beginners/navigation_sim_demo/CMakeLists.txt:3 (find_package)

-- Configuring incomplete, errors occurred!
See also "/home/sailor/works/ros/tutorial_ws/build/CMakeFiles/CMakeOutput.log".
See also "/home/sailor/works/ros/tutorial_ws/build/CMakeFiles/CMakeError.log".
Invoking "cmake" failed

运行roslaunch robot_sim_demo robot_spawn.launch报错

两个gazebo的结点进程报错
[gazebo-2] process has died [pid 13326, exit code 134, cmd /opt/ros/kinetic/lib/gazebo_ros/gzserver -e ode /home/zjy/catkin_ws/src/ROS-Academy-for-Beginners/robot_sim_demo/worlds/ROS-Academy.world __name:=gazebo __log:=/home/zjy/.ros/log/2fceccea-a15f-11e8-aa76-000c292c33ab/gazebo-2.log].
以及
[gazebo_gui-3] process has died [pid 13330, exit code 139, cmd /opt/ros/kinetic/lib/gazebo_ros/gzclient __name:=gazebo_gui __log:=/home/zjy/.ros/log/2fceccea-a15f-11e8-aa76-000c292c33ab/gazebo_gui-3.log].
不知道该怎么处理。我的gazebo更新之后直接是7.14.0版本

rosdep install error

when i run 'rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y'
i got this error.

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
test2: Cannot locate rosdep definition for [stdmsgs]

could any one help me out?